% Devin Koepl

classdef ControllerClass < handle
   
    properties (Constant)
        % Control variable indices
        tauhi   = 1;
        tauli   = 2; 
    end
    
    % All controllers must implement these functions.
    methods (Abstract)
        u = flight( obj, t, x );
        u = stance( obj, t, x );
        td( obj );
        lo( obj );
    end
    
end
